Download or read book Sliding Mode Control of Robotics Systems Actuated by Pneumatic Muscles written by Liang Yang and published by . This book was released on 2006 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation is concerned with investigating robust approaches for the control of pneumatic muscle systems. Pneumatic muscle is a novel type of actuator. Besides having a high ratio of power to weight and flexible control of movement, it also exhibits many analogical behaviors to natural skeletal muscle, which makes them the ideal candidate for applications of anthropomorphic robotic systems. In this dissertation, a new phenomenological model of pneumatic muscle developed in the Human Sensory Feedback Laboratory at Wright Patterson Air Force Base is investigated. The closed loop stability of a one-link planar arm actuated by two pneumatic muscles using linear state feedback is proved. Robotic systems actuated by pneumatic muscles are time-varying and nonlinear due to load variations and uncertainties of system parameters caused by the effects of heat. Sliding mode control has the advantage that it can provide robust control performance in the presence of model uncertainties. Therefore, it is mainly utilized and further complemented with other control methods in this dissertation to design the appropriate controller to perform the tasks commanded by system operation. First, a sliding mode controller is successfully proposed to track the elbow angle with bounded error in a one-Joint limb system with pneumatic muscles in bicep/tricep configuration. Secondly, fuzzy control, which aims to dynamically adjust the sliding surface, is used along with sliding mode control. The so-called fuzzy sliding mode control method is applied to control the motion of the end-effector in a two-Joint planar arm actuated by four groups of pneumatic muscles. Through computer simulation, the fuzzy sliding mode control shows very good tracking accuracy superior to nonfuzzy sliding mode control. Finally, a two joint planar arm actuated by four groups of pneumatic muscles operated in an assumed industrial environment is presented. Based on the model, an integral sliding mode control scheme is proposed as an ultimate solution to the control of systems actuated by pneumatic muscles. As the theoretical proof and computer simulations show, the integral sliding mode controller, with strong robustness to model uncertainties and external perturbations, is superior for performing the commanded control assignment. Based on the investigation in this dissertation, integral sliding mode control proposed here is a very promising robust control approach to handle systems actuated by pneumatic muscles.
Download or read book Sliding Mode Control written by Andrzej Bartoszewicz and published by BoD – Books on Demand. This book was released on 2011-04-11 with total page 560 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main objective of this monograph is to present a broad range of well worked out, recent application studies as well as theoretical contributions in the field of sliding mode control system analysis and design. The contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics, electric drives and motion steering systems. They enrich the current state of the art, and motivate and encourage new ideas and solutions in the sliding mode control area.
Download or read book Pneumatic Servo Systems Analysis written by Ling Zhao and published by Springer Nature. This book was released on 2022-02-10 with total page 325 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on pneumatic servo systems analysis, control and application in robotic systems. The pneumatic servo systems are composed by pneumatic artificial muscles or cylinders, which are two important pneumatic actuators in industrial application. The active disturbance rejection control technique is used effectively to solve strong nonlinearity and uncertain factors for the pneumatic servo systems. Nonlinear feedback control, back-stepping control, finite-time control, sliding mode control and several other control laws are proposed to make the pneumatic servo systems have better control performances. The book establishes a fundamental framework for this topic, while emphasizing the importance of integrated analysis. The book is intended for undergraduate and graduate students who are interested in this field and engineers working on the applications of pneumatic servo systems. Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.
Download or read book Sliding Mode Control written by Andrzej Bartoszewicz and published by IntechOpen. This book was released on 2011-04-11 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main objective of this monograph is to present a broad range of well worked out, recent application studies as well as theoretical contributions in the field of sliding mode control system analysis and design. The contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics, electric drives and motion steering systems. They enrich the current state of the art, and motivate and encourage new ideas and solutions in the sliding mode control area.
Download or read book Intelligent Robotics and Applications written by Zhiyong Chen and published by Springer. This book was released on 2018-08-02 with total page 511 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two volume set LNAI 10984 and LNAI 10985 constitutes the refereed proceedings of the 11th International Conference on Intelligent Robotics and Applications, ICIRA 2018, held in Newcastle, NSW, Australia, in August 2018. The 81 papers presented in the two volumes were carefully reviewed and selected from 129 submissions. The papers in the first volume of the set are organized in topical sections on multi-agent systems and distributed control; human-machine interaction; rehabilitation robotics; sensors and actuators; and industrial robot and robot manufacturing. The papers in the second volume of the set are organized in topical sections on robot grasping and control; mobile robotics and path planning; robotic vision, recognition and reconstruction; and robot intelligence and learning.
Download or read book Advances in the Theory of Control Signals and Systems with Physical Modeling written by Jean Levine and published by Springer Science & Business Media. This book was released on 2010-09-30 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the 60's, control, signals and systems had a common linear algebraic background and, according to their evolution, their respective backgrounds have now dramatically differed. Recovering such a common background, especially in the nonlinear context, is currently a fully open question. The role played by physical models, finite or infinite dimensional, in this hypothetical convergence is extensively discussed in this book. The discussion does not only take place on a theoretical basis but also in the light of two wide classes of applications, among the most active in the current industrially oriented researches: - Electrical and Mechatronical systems; - Chemical Processes and systems appearing in Life Sciences. In this perspective, this book is a contribution to the enhancement of the dialogue between theoretical laboratories and more practically oriented ones and industries. This book is a collection of articles that have been presented by leading international experts at a series of three workshops of a Bernoulli program entitled “Advances in the Theory of Control, Signals and Systems, with Physical Modeling” hosted by the Bernoulli Centre of EPFL during the first semester of 2009. It provides researchers, engineers and graduate students with an unprecedented collection of topics and internationally acknowledged top-quality works and surveys.
Download or read book Pneumatic Actuating Systems for Automatic Equipment written by Igor Lazar Krivts and published by CRC Press. This book was released on 2016-04-19 with total page 367 pages. Available in PDF, EPUB and Kindle. Book excerpt: Automation is quickly becoming the standard across nearly every area of manufacturing. Pneumatic actuators play a very important role in modern automation systems, yet until now there has been no book that takes into account the recent progress not only in the pneumatic systems themselves but also in the integration of mechatronics, electronic cont
Download or read book Advances in Modelling and Control of Soft Robots written by Concepción A. Monje and published by Frontiers Media SA. This book was released on 2021-07-14 with total page 175 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Sliding Mode Control Using MATLAB written by Jinkun Liu and published by Academic Press. This book was released on 2017-05-25 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt: Sliding Mode Control Using MATLAB provides many sliding mode controller design examples, along with simulation examples and MATLAB® programs. Following the review of sliding mode control, the book includes sliding mode control for continuous systems, robust adaptive sliding mode control, sliding mode control for underactuated systems, backstepping, and dynamic surface sliding mode control, sliding mode control based on filter and observer, sliding mode control for discrete systems, fuzzy sliding mode control, neural network sliding mode control, and sliding mode control for robot manipulators. The contents of each chapter are independent, providing readers with information they can use for their own needs. It is suitable for the readers who work on mechanical and electronic engineering, electrical automation engineering, etc., and can also be used as a teaching reference for universities. Provides many sliding mode controller design examples to help readers solve their research and design problems Includes various, implementable, robust sliding mode control design solutions from engineering applications Provides the simulation examples and MATLAB programs for each sliding mode control algorithm
Download or read book Issues in Robotics and Automation 2013 Edition written by and published by ScholarlyEditions. This book was released on 2013-05-01 with total page 1160 pages. Available in PDF, EPUB and Kindle. Book excerpt: Issues in Robotics and Automation / 2013 Edition is a ScholarlyEditions™ book that delivers timely, authoritative, and comprehensive information about Computing Information and Control. The editors have built Issues in Robotics and Automation: 2013 Edition on the vast information databases of ScholarlyNews.™ You can expect the information about Computing Information and Control in this book to be deeper than what you can access anywhere else, as well as consistently reliable, authoritative, informed, and relevant. The content of Issues in Robotics and Automation: 2013 Edition has been produced by the world’s leading scientists, engineers, analysts, research institutions, and companies. All of the content is from peer-reviewed sources, and all of it is written, assembled, and edited by the editors at ScholarlyEditions™ and available exclusively from us. You now have a source you can cite with authority, confidence, and credibility. More information is available at http://www.ScholarlyEditions.com/.
Download or read book Intelligent Systems and Applications written by Yaxin Bi and published by Springer. This book was released on 2016-06-30 with total page 453 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a remarkable collection of chapters covering a wider range of topics, including unsupervised text mining, anomaly and Intrusion Detection, Self-reconfiguring Robotics, application of Fuzzy Logic to development aid, Design and Optimization, Context-Aware Reasoning, DNA Sequence Assembly and Multilayer Perceptron Networks. The twenty-one chapters present extended results from the SAI Intelligent Systems Conference (IntelliSys) 2015 and have been selected based on high recommendations during IntelliSys 2015 review process. This book presents innovative research and development carried out presently in fields of knowledge representation and reasoning, machine learning, and particularly in intelligent systems in a more broad sense. It provides state - of - the - art intelligent methods and techniques for solving real world problems along with a vision of the future research.
Download or read book 2020 IEEE International Conference on Real Time Computing and Robotics RCAR written by IEEE Staff and published by . This book was released on 2020-09-28 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: (1) robotics and intelligent mechatronics systems (2) sensing, perception and control theories and their applications (3) real time imaging, image video processing and their applications (4) selected frontier areas, such as soft robotics, artificial intelligence, computational biomechanics, etc, and their applications
Download or read book New Approaches in Automation and Robotics written by Harald Aschemann and published by BoD – Books on Demand. This book was released on 2008-05-01 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book New Approaches in Automation and Robotics offers in 22 chapters a collection of recent developments in automation, robotics as well as control theory. It is dedicated to researchers in science and industry, students, and practicing engineers, who wish to update and enhance their knowledge on modern methods and innovative applications. The authors and editor of this book wish to motivate people, especially under-graduate students, to get involved with the interesting field of robotics and mechatronics. We hope that the ideas and concepts presented in this book are useful for your own work and could contribute to problem solving in similar applications as well. It is clear, however, that the wide area of automation and robotics can only be highlighted at several spots but not completely covered by a single book.
Download or read book Control Instrumentation and Mechatronics Theory and Practice written by Norhaliza Abdul Wahab and published by Springer Nature. This book was released on 2022-07-07 with total page 880 pages. Available in PDF, EPUB and Kindle. Book excerpt: This proceeding includes original and peer-reviewed research papers from the 3rd International Conference on Control, Instrumentation and Mechatronics Engineering (CIM2022). The conference is a virtual conference held on 2-3 March 2022. The topics covered latest work and finding in the area of Control Engineering, Mechatronics, Robotics and Automation, Artificial Intelligence, Manufacturing, Sensor, Measurement and Instrumentation. Moreover, the latest applications of instrumentations, control and mechatronics are provided. Therefore, this proceeding is a valuable material for researchers, academicians, university students and engineers.
Download or read book Multibody System Dynamics Robotics and Control written by Hubert Gattringer and published by Springer Science & Business Media. This book was released on 2013-01-06 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.
Download or read book Sliding Mode Control in Electro Mechanical Systems Second Edition written by Vadim Utkin and published by CRC Press. This book was released on 2009-05-01 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Apply Sliding Mode Theory to Solve Control Problems Interest in SMC has grown rapidly since the first edition of this book was published. This second edition includes new results that have been achieved in SMC throughout the past decade relating to both control design methodology and applications. In that time, Sliding Mode Control (SMC) has continued to gain increasing importance as a universal design tool for the robust control of linear and nonlinear electro-mechanical systems. Its strengths result from its simple, flexible, and highly cost-effective approach to design and implementation. Most importantly, SMC promotes inherent order reduction and allows for the direct incorporation of robustness against system uncertainties and disturbances. These qualities lead to dramatic improvements in stability and help enable the design of high-performance control systems at low cost. Written by three of the most respected experts in the field, including one of its originators, this updated edition of Sliding Mode Control in Electro-Mechanical Systems reflects developments in the field over the past decade. It builds on the solid fundamentals presented in the first edition to promote a deeper understanding of the conventional SMC methodology, and it examines new design principles in order to broaden the application potential of SMC. SMC is particularly useful for the design of electromechanical systems because of its discontinuous structure. In fact, where the hardware of many electromechanical systems (such as electric motors) prescribes discontinuous inputs, SMC becomes the natural choice for direct implementation. This book provides a unique combination of theory, implementation issues, and examples of real-life applications reflective of the authors’ own industry-leading work in the development of robotics, automobiles, and other technological breakthroughs.
Download or read book Sliding mode Control of Pneumatic Actuators for Robots and Telerobots written by Sean Edward Hodgson and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
